Simulation of Robot Arm Dynamics Using N-E Method of 2-Link Manipulator

Sahay, Neeta; Chattopadhyay, Sankha; Chowdhury, Tanmay

doi:10.1109/icict48043.2020.9112436

Cited by 2 publications

(1 citation statement)

References 10 publications

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“…The dynamics model of the 3-PRS parallel robot is established by the Newton-Euler method. The Newton-Euler method is more complicated in the calculation process, and it can represent the internal forces between components when considering the joint friction [24][25][26]. The dynamics models are established for each component, and the force analysis of each component is shown in Figure 2.…”

Section: Dynamics Model Analysismentioning

confidence: 99%

Driving Force Estimation of 3-PRS Parallel Robot Based on Deep Learning

2024

IJOMAM

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Aiming at the problem of the difficulty in solving the dynamics driving force of the parallel robot, a deep learning model is proposed to estimate the slider driving force of the 3-PRS parallel robot. The 3-PRS parallel robot is presented, and its dynamics model is established using the Newton-Euler method. The dynamics of the 3-PRS parallel robot is analysed by using the theory of the "black box model". The parameters of the designed 3-PRS parallel robot are used as input, and the driving force can be output directly through the deep learning algorithm. The regression convolutional neural network (CNN) algorithm based on deep learning is established to estimate the slider driving force. An overall framework is proposed according to the characteristics of the three sliders. The parameters of the parallel robot are collected, and the collected data are converted into a grayscale image to establish the data sets for driving force estimation. Two cases with friction and without friction are considered respectively in the experiment. The experimental results show that measuring the driving force using the regression CNN can improve calculation accuracy and efficiency, which lays a foundation for studying the dynamics of the parallel robot.

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Section: Dynamics Model Analysismentioning

confidence: 99%

Driving Force Estimation of 3-PRS Parallel Robot Based on Deep Learning

2024

IJOMAM

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Simulation of Kinematic and Dynamic Model of Two Degrees of Freedom Robot Arm Using Simulink

BECENEN,

TUNA

2023

Kırklareli Üniversitesi Mühendislik Ve Fen Bilimleri Dergisi

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The aim of this study is to realize the physical model of a robot arm with two degrees of freedom in the MATLAB Simulink environment, to show that the physical model of the robot arm matches the mathematical model and that the results of these models match. For this purpose, kinematic and dynamic modeling of a two-degree-of-freedom robotic arm is performed in the MATLAB Simulink environment. To ensure the accuracy of the physical model created in the MATLAB Simulink environment, mathematical equations are defined to a function within the physical model, in other words, a mathematical model is created. The kinematic equations of the robotic arm are examined in two steps as forward kinematics and inverse kinematics equations, and the geometric approach is used when obtaining the kinematic equations. The Lagrange-Euler method is used to obtain dynamic equations. The results obtained show that the mathematical kinematic and dynamic equations match the physical model in the MATLAB Simulink environment and reveal that the system is reliable.

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Simulation of Robot Arm Dynamics Using N-E Method of 2-Link Manipulator

Cited by 2 publications

References 10 publications

Driving Force Estimation of 3-PRS Parallel Robot Based on Deep Learning

Driving Force Estimation of 3-PRS Parallel Robot Based on Deep Learning

Simulation of Kinematic and Dynamic Model of Two Degrees of Freedom Robot Arm Using Simulink

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